摘要
自主水下航行器(AUV)广泛应用于海洋救助与打捞、深海资源调查、海洋石油开采、水下工程施工、军事和国防建设等诸多方面,己经产生了巨大的经济效益和社会效益,具有潜在的应用前景。自主水下航行器技术也是当前世界各国投巨资争相研究的热点。
本论文基于国内外水下机器人设计的成功经验,通过对水下机器人结构设计因素的分析研究,成功设计了一推进器、四控制舵水下机器人外形结构,并利用实际试验对其运动稳定性进行了验证。理论分析和试验结果证明:采用一推进器、四控制舵水下机器人结构恰好可以满足水下机器人进行浅水实验的需要。
本文主要的工作和创新点主要有以下几个方面:
一、根据水下航行器的任务功能,初步完成了轻型AUV原理样机的结构总体设计,包括形体设计、耐压壳体设计、密封问题等。
二、完成了轻型AUV原理样机的机械设计、全部机械加工图纸以及成功实现了单片机对AUV舵机的控制。
三、完成了室外水池平衡试验,并在水池内进行了运动稳定性试验。这将是中国海洋大学完成的第一台浅水轻型AUV原理样机。
The Autonomous Underwater Vehicle (AUV) is applied in the ocean salvage, the deep sea resources investigation, the ocean petroleum mine, underwater engineering construction, the military and national defenses etc. It has produced the huge economic performance and social performances, and it has latent applied foreground. The AUV technique is also hot point that the international community invests huge money in study.
This thesis depends on the successful experience in designing underwater vehicles all over the world, through the study of structure factors of underwater vehicles, designs the structure of the one-thruster three-rudder Underwater Robot. And judges the kinematic stability of the robot by analyzing and experimenting. It is proved by the result of the analysis and experiment that one-thruster three-rudder Underwater Vehicle is suitable to be used for experimenting in shallow water.
This dissertation's main work and innovations is following:
1. Due to mission requirements, This paper firstly made collectivity design of an Light-duty AUV, including body design, hull design and airproof etc.
2. This paper made the mechanism design and all of the blueprint,and successfully realize the control of the helms throw the singlechip.
3. This paper done the poor balance examination successfully, and done the laboratory pool kinematic stability experiment in horizontal plane. This machine will be the first Light-duty AUV in Shallow Water in Ocean University of China.
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